/// <summary> /// Estimates the subsequent stochastic model state by its current state and stores it at PredictedState /// </summary> /// <param name="control">the control vector</param> /// <returns>The predicted state</returns> public Matrix <float> Predict(Matrix <float> control) { CvInvoke.cvKalmanPredict( ref _kalman, control == null ? IntPtr.Zero : control.Ptr); return(PredictedState); }